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elena-ecn / mpc-cbf

Model Predictive Control with discrete-time Control Barrier Functions (MPC-CBF) for a wheeled mobile robot.

MIT License

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Closed Maple-ssx closed 9 months ago

Maple-ssx commented 1 year ago

How can I use it in ros ?？

dongjieHuo commented 1 year ago

Hello i have same question.

inshaandrabi commented 9 months ago

Hi, I have the same query !

elena-ecn commented 9 months ago

Hi everyone! Thank you for your interest in this project.

Although this part is not publicly available, if you are familiar with ROS, it should be fairly straightforward to implement.

The simplest way to do it, for known static obstacles, would be the following:

while goal not reached:

Subscribe to the odometry data to get the current robot pose x
Compute the optimal velocity input from the MPC controller u = mpc.make_step(x)
Publish the computed velocity (e.g., in the /cmd_vel topic) for the robot to move

inshaandrabi commented 9 months ago

u0 computed will be send as linear velocity? is angular velocity not required ?

elena-ecn commented 9 months ago

u0 is a two-dimensional vector. It consists of both the linear and angular velocities that need to be sent to the robot.

inshaandrabi commented 9 months ago

okay so, the message that would be send to the robot as linear.x and angular.z would be the sliced part of this vector u0?

inshaandrabi commented 9 months ago

After issuing the u0 to the robot, it moves only until the simulation graph shows.